aikido:debug/se2

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03a0dc1... by Aditya Vamsikrishna <email address hidden> on 2018-08-08

debugged se2 state planning; needs cleanup

e827fac... by Daqing Yi <email address hidden> on 2018-08-02

Adding another kinodynamic timer (#443)

* add kinodynamic retiming

* integrate retiming code

* add unit tests

* finish unit tests

* add docstrings and tests for post-processing

* code format

* fix tests for post processor

* fix code style

* code clean

* add CHANGELOG

* address Brian's comments

* address AVK's comments

* rename folder

* rename namespace

* Fix formatting.

* rename functions

* fix doc strings

* refactor the functions in detail namespace

* Rename OptimalRetimer to KunzRetimer.

* Speed up KunzRetimer tests.

Reducing the maxDeviation from 10 to 0.1 brings the runtime down from 8
seconds to 3 seconds.

* modify test values for speeding

422d112... by Brian Hou <email address hidden> on 2018-07-31

Fix compilation errors with Eigen 3.3.5 (#452)

* Add @jslee02's fix for Eigen 3.3.5 bug.

* Update CHANGELOG.md.

e46aba0... by Brian Hou <email address hidden> on 2018-07-19

Fix bug with negative execution times in Executor::step. (#450)

* Fix bug with negative execution times in KinematicSimulationTrajectoryExecutor.

* Fix tests.

* Update CHANGELOG.md.

cfba2f6... by Aditya Vamsikrishna <email address hidden> on 2018-07-17

Ranking IK Solutions (#423)

* init

* Fixing const-correctness in state space

* update structure

* make format

* source for base ranking class

* make format

* add general sorting

* make format

* preallocate size of ranking vector

* nit todo removed

* remove unnecessary headers + new strategies

* make format

* remove redundant virtual keyword

* add FIFO to ranking strategy

* add source scripts for ranking strategies

* assign the base class members first

* make format

* add sources to read later

* correct macro for header-guard

* tests for FIFO + cleanup

* Fixing const-correctness of StateHandle

* Fix implicit conversion of StateHandle to State*

* Undo unnecessary changes

* Remove incorrect comment

* Add clone to StateSpace

* Format code

* test for the bug

* bug fix in adding IK solutions

* comment out unused variables

* nit comments

* Update changelog

* Update CHANGELOG.md

* WIP: Random restructuring to test stuff

* change API

* make format

* nominal configuration strategy

* test for nominal configuration strategy

* restructure the code into distance

* enable base class and nominal configuration ranker

* bring back test for nominal config ranker + check distances

* simplify the test script

* bring bakc joint avoidance ranker

* simplify the code

* make format

* clean up test scripts

* joint avoidance strategy

* consider cyclic joints

* make format

* make tests uniform

* update log

* simplify and address PR comments

* modify joint avoidance. TODO: change to indices of unbounded limits?

* modify constructor to take nominal configuration as parameter

* make format

* add docstring

* work with indices

* make format

* convenience function to get state without creating it explicitly

* simplify code

* make format

* update log

* edit docstrings

* use cartesianproduct state space

* add docstrings

* create limits states in ctr; use cartesian sspace.

* make format

* move helper function to anonymous namespace

* rename variables and functions for increased clarity

* make format

* simplify tests scripts

* remove unnecessary clone

* make format

* take in scoped states as expected during planning

* make format

* remove function outside scope of the PR

* remove getter for statespace; use MetaSkeletonStateSpace

* remove const-cast

* make format

* address concerns over state; cleanup

* remove unnecessary header

* remove unnecesary header

* make ranking efficient; address nit comments

* make format

* Refactor and fix weird bug.

f05e40b... by Sherdil Niyaz <email address hidden> on 2018-07-11

Fix issues discovered during demo. (#442)

* Test with COnfitoConf and seems to work!

* Add getTrajectoryPostProcessor() method to ConcreteRobot class.

* Make ConfigurationToEndEffectorOffset and ConfigurationToTSR problems also use ScopedState internally.

* HACK: Make ConfigurationToEndEffectorOffset getDirection() method return bodyNode direction if passed direction was zero vector.

* Fix ConfigurationToConfiguration_to_ConfigurationToTSR adapter now that problems can store a cloned, scoped version of the passed state.

* HACK: Fix hack for returning current BN direction in Offset problem (for moving straight).

* HACK: Get around HERB hand BN not being in arm metaSkeleton, and nullptr RNG.

* HACK: Update hacks to work with MAGI.

* HACK: Got left out of last commit.

* HACK: Cap samples in DART TSR adapter. Use better random seed.

* Make getTrajectoryPostProcessor take needed args.

* Make getTrajectoryPostProcessor take constraint checking params.

* Do BN check in TSR adapter correctly by using the skeleton.

* Add RNG to ConfigurationToConfiguration_to_ConfigurationToTSR.

* Remove startState from DART problems. Need to fix tests.

* Add DART ConfigurationToConfigurationPlanner.

* Add new adapter that turns non-DART ConfTOConf planner into a DART one.

* Update tests for removing startState from DART problems.

* Run make format on last commit.

* Fix tests from adding RNG to TSR adapter.

* Fix naming ambiguity that made TSR adapter not build.

* Use boost:none instead of zero vector to get straight direction in offset problem.

* Make Offset problem take optional as reference.

* Clean up Offset problem comments and restore zero vector check.

* Remove TSR adapter hack to prevent inf loops.

* HACK BODY NODE FALLS OFF

* HACK HACK HACK.

* HACK HACK JH

* HACK: IKJDSHFKJDSHFKJDSHFKDSHFLJDHFSKJHDSFKJDHF

* Revert "HACK: IKJDSHFKJDSHFKJDSHFKDSHFLJDHFSKJHDSFKJDHF"

This reverts commit 40482d34665066af4f79217c72c83fe180b67f2d.

* Revert "HACK HACK JH"

This reverts commit 42cd6554cf210645bbbfa6ead0c78a492e46a88d.

* Revert "HACK HACK HACK."

This reverts commit 85eee6653e329e661877ed780ecd39a71ef0f910.

* Revert "HACK BODY NODE FALLS OFF"

This reverts commit 40b120754b0c1c7a6c6bc24139428afbd2a8dec4.

* Update ConfigurationToEndEffectorOffset to use multiple constructors.

* Update getStartState in ConfigurationToEndEffectorOffset.

* Update ConfigurationToEndEffectorPose to use two constructors and restore getStartState. Fix state passing in ConfigurationToEndEffectorOffset.

* Update ConfigurationToTSR to use multiple constructors and restore getStartState.

* Update TSR adapter to just use getStartState().

* Pass start state to VFP.

* Revert "Update TSR adapter to just use getStartState()."

This reverts commit 976b4434b41027bbbbf1a69df93247336649287d.

* UpdateDART planning problems to not return dangling pointers with getStateState().

* Draft dart/ConfigurationToConfiguration.hpp

* Draft dart/ConfigurationToConfiguration.cpp

* Make adapter use right ConfigToConfig Problem.

* Trim fat in new getTrajectoryPostProcessor method.

* Fix tests with what we have now.

* Run make format.

* Make Planner take RNG.

* Add rng arg to SingleProblemPlanner and ConfigurationToConfigurationPlanner constructors to enable future OMPL planners to take RNG.

* Use delegate RNG in TSR adapter. Make tests build again.

* Move getEndEffectorDirection into robot/util

* Create planner/dart/util and put getEndEffectorDirection there instead.

* Change Planner to take raw RNG pointer, and getRng to return this raw pointer.

* Respond to nits.

* Fix RNG destruction in Planner class.

* Repond to latest review comments.

* Remove some std::moves to fix RVO build issue with OSX.

* Nab one std::move missed by the last commit..

* Use getState in DART planning problems.

* Remove uneeded aikido::'s in ConfigurationToConfiguration_to_ConfigurationToConfiguration.

* Run make format.

* Respond to all but one of Gilwoo's nits.

* Respond to some more nits.

fe09cbb... by Jeongseok Lee <email address hidden> on 2018-06-09

Reflect package name updates (aikido0 -> aikido)

f7ebc5b... by Brian Hou <email address hidden> on 2018-05-30

Planning adapters (#437)

* Add MetaSkeleton to ConfigurationToEndEffectorOffsetPlanner.

* Add more DART planners.

Add ConfigurationToTSRPlanner.
Add DART version of ConfigurationToConfigurationPlanner.

* Add max samples to ConfigurationToTSR problem.

* Implement single-problem PlannerAdapter class.

* Implement single-problem DartPlannerAdapter class.

* Add initial implementation of ConfigurationToConfiguration_to_ConfigurationToTSR adapter.

* Format code.

* Update ConfigurationToEndEffectorPose to MetaSkeletonStateSpace.

* Write DartSingleProblemPlanner. Change ConfigurationToConfigurationPlanner.

* Update the other two DART planners to use DartSingleProblemPlanner.

* Rename dart::DartSingleProblemPlanner to dart::SingleProblemPlanner.

* Fix formatting.

[skip ci]

* Update PlannerAdapter.

Remove DartPlannerAdapter class in favor of supporting conversion from non-DART
planners to DART planners in PlannerAdapter class.

* Respond to nits from JS.

* Make SequenceMetaPlanner use CompositePlanner constructor.

* Respond to final nit from JS.

* Update CHANGELOG

* Add that line back in CHANGELOG.md

a89dd3c... by Brian Hou <email address hidden> on 2018-05-24

Move MetaSkeleton-dependent problems to aikido::planner::dart. (#432)

* Move MetaSkeleton-dependent problems and planners.

* Remove planner_dart component.

21fc7a2... by Jeongseok Lee <email address hidden> on 2018-05-23

Fix compilation error in robot/util.cpp (#436)